CN101417667A - Electric automobile using joystick to operate running direction - Google Patents
Electric automobile using joystick to operate running direction Download PDFInfo
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- CN101417667A CN101417667A CNA2008100653036A CN200810065303A CN101417667A CN 101417667 A CN101417667 A CN 101417667A CN A2008100653036 A CNA2008100653036 A CN A2008100653036A CN 200810065303 A CN200810065303 A CN 200810065303A CN 101417667 A CN101417667 A CN 101417667A
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Abstract
The invention relates to an electric automobile which comprises a body, a frame arranged in the body, a power plant arranged on the frame, a left progressive device, a right progressive device, a driven mechanism of the progressive device, a left parking device, a right parking device, a control signal input mechanism, an information acquisition mechanism, a programmable travel control mechanism, a low-speed travel direction control unit, a medium-speed travel direction control unit and a high-speed travel direction control unit, wherein, the programmable travel control mechanism comprises an automobile travel information storage device, a preinstall automobile travel information storage device and a comparer. The electric automobile selects a travel mode of the electric automobile automatically according to control signals output by the control signal input mechanism through the control treated by the programmable travel control mechanism, the intellectualization control of the electric automobile is enhanced, the electric automobile has simple structure, low working condition requirement and low manufacturing cost, and the electric automobile is popularized and used widely.
Description
Technical field
The present invention relates to a kind of kinematic mechanism that adopts the joystick manipulation travel direction, relate in particular to a kind of electronlmobil that adopts the joystick manipulation travel direction.
Background technology
Because electronlmobil has: do not have exhaust emission, an advantage that is not subjected to that oil resources influence etc., make it become the automotive technology developing direction, along with the development of electric vehicle engineering and being gradually improved of performance, the use field of electronlmobil more and more widely; In traditional electronlmobil, what be responsible for the work of execution motor turning is steering system, also can be referred to as front-wheel steering (2WS), still among using, it is made up of steering handwheel (being bearing circle), steering shaft, steering swivel, turning cylinder, deflector, tierod and wheel flutter mechanical components such as (being front-wheel) usually at present.Its concrete principle of work of this steering system is: steering handwheel rotates, its moment of torsion that provides is passed in the deflector, the gear of handling in the deflector rotates, the wheel and rack tight engagement, the promotion tooth bar moves left or moves right, drive the swing of tierod, make wheel flutter also present swing, thereby change the direction of running car.
A kind of adopted battery-driven car maneuver control device is arranged in addition, it mainly comprises electronic controller, manipulating handgrip and by the electric weight display circuit, power supply junction circuit and power circuit are formed power panel, source switch is connected with the power supply junction circuit, power circuit respectively with the electric weight display circuit, the power supply junction circuit is connected with storage battery, electronic controller respectively with the speed governing knob, the forward-reverse switch, drive motor, electromagnetic brake is connected with storage battery, speed governing lacing wire line is connected with manipulating handgrip, electronic inductor is housed in shell of electronic controller, the speed governing pull bar is housed in the electronic inductor and is connected with electronic controller by connection lead, electronic controller comprises the electric weight testing circuit, electronic inductor, control circuit, signal amplification circuit, ON-OFF control circuit, circuit for power conversion and post-stage drive circuit, wherein: the electric weight testing circuit respectively with the electric weight display circuit, power circuit, electronic inductor is connected, the forward-reverse switch is connected with ON-OFF control circuit, electronic inductor also respectively with power circuit, control circuit, signal amplification circuit is connected, control circuit also respectively with power circuit, the speed governing knob, signal amplification circuit is connected with post-stage drive circuit, signal amplification circuit also respectively with power circuit, electromagnetic brake is connected, ON-OFF control circuit is connected with circuit for power conversion, circuit for power conversion is connected with post-stage drive circuit, post-stage drive circuit also respectively with storage battery, drive motor is connected; In the above-mentioned dual mode, it does not change the foresteerage gear of orthodox car, so still there is the drawback of mechanical type member.
Publication number in the Chinese invention patent ublic specification of application " CN1746064 " name is called " battery-driven car steering swivel system and battery-driven car forward method " and discloses a kind of battery-driven car steering swivel system, it is characterized in that this system comprises: the direction indicating member that is used to produce the Vehicular turn signal; Be used for the collection vehicle state value, and be converted into the information acquisition unit of electric signal; Be used for above-mentioned two kinds of electric signal are handled computing, and draw the processing arithmetic element that turns to control command; Turn to control command with foundation, carry out the control execution unit of Vehicular turn; Wherein, direction indicating member, information acquisition unit, control execution unit all are electrically connected with the processing arithmetic element; The described control command that turns to is to turn to control command to what each wheel of vehicle was made respectively, what this was independently carried out respectively turns to control command by handling arithmetic element input control execution unit, described direction indicating member comprises the bearing circle of the steering angle that is used to produce a vehicle, described information acquisition unit comprises: four wheel speed sensors that can respond to each wheel velocity respectively, and it is connected on four wheels; But the vehicle speed sensor of the speed signal of former and later two sense vehicle is installed in the front and rear of vehicle body respectively; Be installed in vehicle barycenter place, but monitor vehicle is around the lateral direction of car angular velocity sensor of the rotation situation of vertical axis; Be installed in vehicle barycenter place equally, but the vehicle lateral acceleration sensor of monitor vehicle transverse acceleration; These sensors all are sent to the processing arithmetic element with the status signal that the processing arithmetic element is electrically connected being gathered; Described processing arithmetic element comprises that a storage inside has the Vehicular turn ECU of the various state parameters of vehicle, and it is installed in interior of body; Described processing arithmetic element has behind turn sign that receives vehicle and status signal, is used for these signals are handled computing and drawn the transition condition parameter of vehicle and the program software that desirable shape is read the workflow of parameter; Described processing arithmetic element also has and is used for described transition condition parameter and perfect condition parameter are compared, and makes the program software to the workflow of control command; Though this kind battery-driven car steering swivel system can be realized the intellectualized operation of Vehicular turn, can't realize comprehensive control, and structure is comparatively complicated to the electric automobile during traveling direction.
Summary of the invention
At above-mentioned situation, it is a kind of simple and reliable for structure that the object of the invention promptly is to provide, electronlmobil that can application in question lever operation travel direction.
Goal of the invention of the present invention is achieved through the following technical solutions:
A kind of electronlmobil of application in question lever operation travel direction, this kind electronlmobil comprises: vehicle body, be arranged on vehicle frame in the vehicle body, be arranged on the engine installation on the vehicle frame, left and right moving device;
Can distinguish the moving device driver train of the left and right moving device of individual drive vehicle, this moving device driver train comprises: the left and right parking device that can independently prevent left and right moving device to advance respectively;
Wherein, the battery-driven car that this kind has intelligent barrier avoiding function also comprises: the control signal input mechanism of two-dimensional parameter input control signal can be set on X, Y direction with moving freely, and this control signal input mechanism is used to import the driving directional control signal and the drive propulsion control signal of the described electric vehicle motion of control;
Be used to gather this electronlmobil vehicle running state value, and be converted into the information acquisition mechanism of electric signal;
The ride control able to programme mechanism that is connected plug-in with described moving device driver train, this ride control able to programme mechanism handles the work of the described moving device driver train of the intelligent control in back according to the signal of described control signal input mechanism and the output of information acquisition mechanism;
This ride control able to programme mechanism comprises:
Be used to store the vehicle traveling information memory storage of the electronlmobil vehicle running state value that described information acquisition mechanism gathers;
Be used to store the default vehicle traveling information memory storage of default vehicle running state information;
Be used for to be stored in respectively the vehicle running state value of described vehicle traveling information memory storage and be stored in the discriminator that corresponding default vehicle running state information compares in the described default vehicle traveling information memory storage;
By described control signal input mechanism output signal and described discriminator output signal Control work: be used to control the driven at low speed travel direction control unit that described electronlmobil travels under lower-speed state, be used to control the middling speed driving travel direction control unit that described electronlmobil travels under the middling speed state, be used to control the high-speed driving travel direction control unit that described electronlmobil travels under fast state.
Preset at least a driving mode parameter separately in described low speed, middling speed, the high-speed driving travel direction control unit, after the selected described driving mode parameter, described low speed, middling speed, high-speed driving travel direction control unit can be controlled travelling of its left and right sides moving device in described moving device driver train according to the corresponding output of selected driving mode parameter different driving mode signal respectively.
A kind of improvement as technique scheme: described control signal input mechanism is: the drive control lever that the two-dimensional parameter input control signal can be set on X, Y direction with moving freely;
Further, this drive control lever possesses: at the crank that can be provided with on X, Y direction on the substrate with moving freely; With the control lever with the axial region that connects two crank central portions, the bottom of axial region is formed by magnet; Fixing as the magnet of playback with spring members on below the cooresponding substrate of center position of X, Y direction, behind the control lever move operation, axle side magnet moves directly over above-mentioned magnet by magnetic force, makes control lever automatic involution of moment at point midway.
Described left and right moving device is two groups of wheels that are connected the free rotation direction on the described vehicle frame.
Described left and right moving device is the crawler belt that is connected on the described vehicle frame.
Further, the described engine installation that is arranged on the vehicle frame is an electric driver;
This electric driver comprises: vertical bodywork length direction axletree that arrange, that be used to install described dynamic wheel, about the dynamic wheel installation end of this axletree is connected with to cooresponding electric drive;
A kind of improvement as technique scheme: described electric driver for directly connect to ground about to cooresponding electric drive, described each electric drive has electrical motor, each electric drive is connected with wheel respectively;
Described information acquisition mechanism comprises: be used to gather the speed of a motor vehicle sensing unit of described electric automobile during traveling speed, be used to gather the vehicle body degree of balance collecting unit of described electronlmobil vehicle body degree of balance.
Described ride control able to programme mechanism comprises: by described speed of a motor vehicle sensing unit output signal Control work, be used to control described electronlmobil when travelling velocity variations, the changes in vehicle speed angle of turn control unit that changes of its angle of turn; By described vehicle body degree of balance collecting unit output signal Control work, be used to control described electronlmobil when the vehicle body degree of balance changes, the vehicle degree of balance that changes of its angle of turn changes the angle of turn control unit.
A kind of improvement as technique scheme: the electronlmobil of described application in question lever operation travel direction also comprises: the gear bit location that is used to control described moving device driver train mode of operation.
Described ride control able to programme mechanism comprises: by described gear bit location output signal Control work, be used to control described electronlmobil when moving device driver train mode of operation changes, the vehicle gear change angle of turn control unit that changes of its angle of turn.
The driving mode parameter that presets in the described driven at low speed travel direction control unit is the combining ability parameter, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter, counter-force to the combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, this driven at low speed travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, this driven at low speed travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, the selected counter-force of this driven at low speed travel direction control unit is when the combining ability parameter, correspondence outputs a control signal to carries out in the device driving mechanism its left and right moving device of control and advances with opposite directions, the gait of march of above-mentioned left and right moving device is controlled its variation by the control signal of described moving device driver train output, and described electronlmobil is made circular movement in the original place;
This driven at low speed travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This driven at low speed travel direction control unit selected with power when the differential combining ability parameter, described left and right moving device is according to described control signal input mechanism output signal, drives advance turnon left smooth turn or retreat the turnon left smooth turn or advance the right-hand corner smooth turn or the right-hand corner smooth turn of advancing of vehicle body;
The selected counter-force of this driven at low speed travel direction control unit is when the combining ability parameter, and described left and right moving device drives vehicle body left-handed turning minor radius pivot turn or the pivot turn of right-hand turning minor radius according to described control signal input mechanism output signal;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, it is controlled the counter-force that presets in the described driven at low speed travel direction control unit and reduces the information operating amount increase that the same power that presets in the described driven at low speed travel direction control unit of its control control is exported to differential combining ability parameter corresponding control signal input mechanism to the information operating amount of combining ability parameter corresponding control signal input mechanism output;
Described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speed is slack-off, it controls the counter-force that presets in the described driven at low speed travel direction control unit increases to the information operating amount of combining ability parameter corresponding control signal input mechanism output, and the same power that presets in the described driven at low speed travel direction control unit of its control control increases to the information operating amount of differential combining ability parameter corresponding control signal input mechanism output.
It is the combining ability parameter that described middling speed drives the driving mode parameter that presets in the travel direction control unit, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
This middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This middling speed drive travel direction control unit selected with power when the differential combining ability parameter, a described left side, the right lateral motion device is according to described control signal input mechanism output signal, drive the vehicle body turnon left smooth turn of advancing, perhaps retreat the turnon left smooth turn, the right-hand corner smooth turn of perhaps advancing, the right-hand corner smooth turn of perhaps advancing, this middling speed drive travel direction control unit selected with power when the differential combining ability parameter, behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, and the angle of turn linearity of controlling this electronlmobil reduces.
The driving mode parameter that presets in the described high-speed driving travel direction control unit is the combining ability parameter, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, this high-speed driving travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
This high-speed driving travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This high-speed driving travel direction control unit selected with power when the differential combining ability parameter, a described left side, the right lateral motion device is according to described control signal input mechanism output signal, drive the vehicle body turnon left smooth turn of advancing, perhaps retreat the turnon left smooth turn, the right-hand corner smooth turn of perhaps advancing, the right-hand corner smooth turn of perhaps advancing, this high-speed driving travel direction control unit selected with power when the differential combining ability parameter, behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, and the angle of turn linearity of controlling this electronlmobil reduces;
This high-speed driving travel direction control unit also comprises: behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, be used to limit the angle of turn restraint device of the maximum angle of turn of this electronlmobil under the corresponding vehicle speed condition.
The electronlmobil of a kind of application in question lever operation of the present invention travel direction, this kind electronlmobil is by adopting: the control signal input mechanism of two-dimensional parameter input control signal can be set on X, Y direction with moving freely, and this control signal input mechanism is used to import the driving directional control signal and the drive propulsion control signal of the described electric vehicle motion of control; Be used to gather this electronlmobil vehicle running state value, and be converted into the information acquisition mechanism of electric signal; The ride control able to programme mechanism that is connected plug-in with described moving device driver train, this ride control able to programme mechanism handles the work of the described moving device driver train of the intelligent control in back according to the signal of described control signal input mechanism and the output of information acquisition mechanism; This ride control able to programme mechanism comprises: the vehicle traveling information memory storage that is used to store the electronlmobil vehicle running state value that described information acquisition mechanism gathers; Be used to store the default vehicle traveling information memory storage of default vehicle running state information; Be used for to be stored in respectively the vehicle running state value of described vehicle traveling information memory storage and be stored in the discriminator that corresponding default vehicle running state information compares in the described default vehicle traveling information memory storage; By described control signal input mechanism output signal and described discriminator output signal Control work: be used to control the driven at low speed travel direction control unit that described electronlmobil travels under lower-speed state, be used to control the middling speed driving travel direction control unit that described electronlmobil travels under the middling speed state, be used to control the high-speed driving travel direction control unit that described electronlmobil travels under fast state.Preset at least a driving mode parameter separately in described low speed, middling speed, the high-speed driving travel direction control unit, after the selected described driving mode parameter, described low speed, middling speed, high-speed driving travel direction control unit can be controlled travelling of its left and right sides moving device in described moving device driver train according to the corresponding output of selected driving mode parameter different driving mode signal respectively.
This shows that this kind electronlmobil can be according to the control after by the processing of ride control able to programme mechanism of the control signal of control signal input mechanism output, selected voluntarily battery-driven car drives the mode of travelling, improved the intellectuality control that electronlmobil is controlled, the electric vehicle structure of this kind is simple, usage condition requires low, and saved manufacturing cost, suitable applying.
Description of drawings
In order to be easy to explanation, the present invention is done to describe in detail by following preferred embodiment and accompanying drawing.
The scheme drawing of the structural principle square frame of Fig. 1 a kind of preferable specific embodiment of the present invention;
The specific embodiment
Please consult Fig. 1 together, a kind of specific embodiment of electronlmobil of the present invention, the electronlmobil of a kind of application in question lever operation of this specific embodiment travel direction, this kind electronlmobil comprises: the vehicle body (not shown), be arranged on vehicle frame (not shown) in the vehicle body, be arranged on the engine installation on the vehicle frame, left and right moving device (not shown);
Can distinguish the moving device driver train of the left and right moving device of individual drive vehicle, this moving device driver train comprises: the left and right parking device (not shown) that can independently prevent left and right moving device to advance respectively;
Wherein, the battery-driven car that this kind has intelligent barrier avoiding function also comprises: the control signal input mechanism of two-dimensional parameter input control signal can be set on X, Y direction with moving freely, and this control signal input mechanism is used to import the driving directional control signal and the drive propulsion control signal of the described electric vehicle motion of control;
Be used to gather this electronlmobil vehicle running state value, and be converted into the information acquisition mechanism of electric signal;
The ride control able to programme mechanism that is connected plug-in with described moving device driver train, this ride control able to programme mechanism handles the work of the described moving device driver train of the intelligent control in back according to the signal of described control signal input mechanism and the output of information acquisition mechanism;
This ride control able to programme mechanism comprises: the vehicle traveling information memory storage that is used to store the electronlmobil vehicle running state value that described information acquisition mechanism gathers;
Be used to store the default vehicle traveling information memory storage of default vehicle running state information;
Be used for to be stored in respectively the vehicle running state value of described vehicle traveling information memory storage and be stored in the discriminator that corresponding default vehicle running state information compares in the described default vehicle traveling information memory storage;
By described control signal input mechanism output signal and described discriminator output signal Control work: be used to control the driven at low speed travel direction control unit that described electronlmobil travels under lower-speed state, be used to control the middling speed driving travel direction control unit that described electronlmobil travels under the middling speed state, be used to control the high-speed driving travel direction control unit that described electronlmobil travels under fast state.
Preset at least a driving mode parameter separately in described low speed, middling speed, the high-speed driving travel direction control unit, after the selected described driving mode parameter, described low speed, middling speed, high-speed driving travel direction control unit can be controlled travelling of its left and right sides moving device in described moving device driver train according to the corresponding output of selected driving mode parameter different driving mode signal respectively.
In this specific embodiment: described control signal input mechanism is: the drive control lever (not shown) that the two-dimensional parameter input control signal can be set on X, Y direction with moving freely;
Further, this drive control lever can adopt (following structure is not shown): at the crank that can be provided with on X, Y direction on the substrate with moving freely; With the control lever with the axial region that connects two crank central portions, the bottom of axial region is formed by magnet; Fixing as the magnet of playback with spring members on below the cooresponding substrate of center position of X, Y direction, behind the control lever move operation, axle side magnet moves directly over above-mentioned magnet by magnetic force, makes control lever automatic involution of moment at point midway.
In this specific embodiment: described left and right moving device can be adopted as two groups of wheels of the free rotation direction that is connected on the described vehicle frame.
In this specific embodiment: described left and right moving device can be adopted as the crawler belt that is connected on the described vehicle frame.
In this specific embodiment: the described engine installation that is arranged on the vehicle frame is an electric driver;
This electric driver comprises: vertical bodywork length direction axletree that arrange, that be used to install described dynamic wheel, about the dynamic wheel installation end of this axletree is connected with to cooresponding electric drive;
In this specific embodiment: described electric driver for directly connect to ground about to cooresponding electric drive, described each electric drive has electrical motor, each electric drive is connected with wheel respectively;
Described information acquisition mechanism comprises: be used to gather the speed of a motor vehicle sensing unit of described electric automobile during traveling speed, be used to gather the vehicle body degree of balance collecting unit of described electronlmobil vehicle body degree of balance.
Described ride control able to programme mechanism comprises: by described speed of a motor vehicle sensing unit output signal Control work, be used to control described electronlmobil when travelling velocity variations, the changes in vehicle speed angle of turn control unit that changes of its angle of turn; By described vehicle body degree of balance collecting unit output signal Control work, be used to control described electronlmobil when the vehicle body degree of balance changes, the vehicle degree of balance that changes of its angle of turn changes the angle of turn control unit.
In this specific embodiment: the electronlmobil of described application in question lever operation travel direction also comprises: the gear bit location that is used to control described moving device driver train mode of operation.
Described ride control able to programme mechanism comprises: by described gear bit location output signal Control work, be used to control described electronlmobil when moving device driver train mode of operation changes, the vehicle gear change angle of turn control unit that changes of its angle of turn.
The driving mode parameter that presets in the described driven at low speed travel direction control unit is the combining ability parameter, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter, counter-force to the combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, this driven at low speed travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, this driven at low speed travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, the selected counter-force of this driven at low speed travel direction control unit is when the combining ability parameter, correspondence outputs a control signal to carries out in the device driving mechanism its left and right moving device of control and advances with opposite directions, the gait of march of above-mentioned left and right moving device is controlled its variation by the control signal of described moving device driver train output, and described electronlmobil is made circular movement in the original place;
This driven at low speed travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This driven at low speed travel direction control unit selected with power when the differential combining ability parameter, described left and right moving device is according to described control signal input mechanism output signal, drives advance turnon left smooth turn or retreat the turnon left smooth turn or advance the right-hand corner smooth turn or the right-hand corner smooth turn of advancing of vehicle body;
The selected counter-force of this driven at low speed travel direction control unit is when the combining ability parameter, and described left and right moving device drives vehicle body left-handed turning minor radius pivot turn or the pivot turn of right-hand turning minor radius according to described control signal input mechanism output signal;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, it is controlled the counter-force that presets in the described driven at low speed travel direction control unit and reduces the information operating amount increase that the same power that presets in the described driven at low speed travel direction control unit of its control control is exported to differential combining ability parameter corresponding control signal input mechanism to the information operating amount of combining ability parameter corresponding control signal input mechanism output;
Described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speed is slack-off, it controls the counter-force that presets in the described driven at low speed travel direction control unit increases to the information operating amount of combining ability parameter corresponding control signal input mechanism output, and the same power that presets in the described driven at low speed travel direction control unit of its control control increases to the information operating amount of differential combining ability parameter corresponding control signal input mechanism output.
It is the combining ability parameter that described middling speed drives the driving mode parameter that presets in the travel direction control unit, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
This middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This middling speed drive travel direction control unit selected with power when the differential combining ability parameter, a described left side, the right lateral motion device is according to described control signal input mechanism output signal, drive the vehicle body turnon left smooth turn of advancing, perhaps retreat the turnon left smooth turn, the right-hand corner smooth turn of perhaps advancing, the right-hand corner smooth turn of perhaps advancing, this middling speed drive travel direction control unit selected with power when the differential combining ability parameter, behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, and the angle of turn linearity of controlling this electronlmobil reduces.
The driving mode parameter that presets in the described high-speed driving travel direction control unit is the combining ability parameter, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, this high-speed driving travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
This high-speed driving travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This high-speed driving travel direction control unit selected with power when the differential combining ability parameter, a described left side, the right lateral motion device is according to described control signal input mechanism output signal, drive the vehicle body turnon left smooth turn of advancing, perhaps retreat the turnon left smooth turn, the right-hand corner smooth turn of perhaps advancing, the right-hand corner smooth turn of perhaps advancing, this high-speed driving travel direction control unit selected with power when the differential combining ability parameter, behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, and the angle of turn linearity of controlling this electronlmobil reduces;
This high-speed driving travel direction control unit also comprises: behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, be used to limit the angle of turn restraint device of the maximum angle of turn of this electronlmobil under the corresponding vehicle speed condition.
The specific embodiment of the above is a better embodiment of the present invention; be not to limit concrete practical range of the present invention with this; scope of the present invention comprises and is not limited to this specific embodiment; for example: the control signal input mechanism can be for importing the input media of two-dimensional coordinate point arbitrarily; as mouse; keyboard; trace ball; only need the corresponding relation of regulation coordinate reference plane and control signal processing equipment preset parameter to get final product; and left and right sides moving device can adopt any one common moving device; as: the wheel moving device; crawler travel device or the like; structure and principle are similar, all shapes according to the present invention; the equivalence variation that structure is done all comprises in the protection domain of invention.
Claims (10)
1. the electronlmobil of an application in question lever operation travel direction, this kind electronlmobil comprises: vehicle body, be arranged on vehicle frame in the vehicle body, be arranged on the engine installation on the vehicle frame, left and right moving device;
Can distinguish the moving device driver train of the left and right moving device of individual drive vehicle, this moving device driver train comprises: the left and right parking device that can independently prevent left and right moving device to advance respectively;
It is characterized in that: the battery-driven car that this kind has intelligent barrier avoiding function also comprises: the control signal input mechanism of two-dimensional parameter input control signal can be set on X, Y direction with moving freely, and this control signal input mechanism is used to import the driving directional control signal and the drive propulsion control signal of the described electric vehicle motion of control;
Be used to gather this electronlmobil vehicle running state value, and be converted into the information acquisition mechanism of electric signal;
The ride control able to programme mechanism that is connected plug-in with described moving device driver train, this ride control able to programme mechanism handles the work of the described moving device driver train of the intelligent control in back according to the signal of described control signal input mechanism and the output of information acquisition mechanism;
This ride control able to programme mechanism comprises:
Be used to store the vehicle traveling information memory storage of the electronlmobil vehicle running state value that described information acquisition mechanism gathers;
Be used to store the default vehicle traveling information memory storage of default vehicle running state information;
Be used for to be stored in respectively the vehicle running state value of described vehicle traveling information memory storage and be stored in the discriminator that corresponding default vehicle running state information compares in the described default vehicle traveling information memory storage;
By described control signal input mechanism output signal and described discriminator output signal Control work: be used to control the driven at low speed travel direction control unit that described electronlmobil travels under lower-speed state, be used to control the middling speed driving travel direction control unit that described electronlmobil travels under the middling speed state, be used to control the high-speed driving travel direction control unit that described electronlmobil travels under fast state.
Preset at least a driving mode parameter separately in described low speed, middling speed, the high-speed driving travel direction control unit, after the selected described driving mode parameter, described low speed, middling speed, high-speed driving travel direction control unit can be controlled travelling of its left and right sides moving device in described moving device driver train according to the corresponding output of selected driving mode parameter different driving mode signal respectively.
2. electronlmobil according to claim 1 is characterized in that: described control signal input mechanism is: the drive control lever that the two-dimensional parameter input control signal can be set on X, Y direction with moving freely; This drive control lever possesses: at the crank that can be provided with on X, Y direction on the substrate with moving freely; With the control lever with the axial region that connects two crank central portions, the bottom of axial region is formed by magnet; Fixing as the magnet of playback with spring members on below the cooresponding substrate of center position of X, Y direction, behind the control lever move operation, axle side magnet moves directly over above-mentioned magnet by magnetic force, makes control lever automatic involution of moment at point midway.
3. electronlmobil according to claim 1 is characterized in that: described information acquisition mechanism comprises: be used to gather the speed of a motor vehicle sensing unit of described electric automobile during traveling speed, be used to gather the vehicle body degree of balance collecting unit of described electronlmobil vehicle body degree of balance.
4. electronlmobil according to claim 3, it is characterized in that: described ride control able to programme mechanism comprises: by described speed of a motor vehicle sensing unit output signal Control work, be used to control described electronlmobil when travelling velocity variations, the changes in vehicle speed angle of turn control unit that changes of its angle of turn; By described vehicle body degree of balance collecting unit output signal Control work, be used to control described electronlmobil when the vehicle body degree of balance changes, the vehicle degree of balance that changes of its angle of turn changes the angle of turn control unit.
5. electronlmobil according to claim 4 is characterized in that: described electronlmobil also comprises: the gear bit location that is used to control described moving device driver train mode of operation;
Described ride control able to programme mechanism comprises: by described gear bit location output signal Control work, be used to control described electronlmobil when moving device driver train mode of operation changes, the vehicle gear change angle of turn control unit that changes of its angle of turn.
6. electronlmobil according to claim 5, it is characterized in that: the driving mode parameter that presets in the described driven at low speed travel direction control unit is the combining ability parameter, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter, counter-force to the combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, this driven at low speed travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, this driven at low speed travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, the selected counter-force of this driven at low speed travel direction control unit is when the combining ability parameter, correspondence outputs a control signal to carries out in the device driving mechanism its left and right moving device of control and advances with opposite directions, the gait of march of above-mentioned left and right moving device is controlled its variation by the control signal of described moving device driver train output, and described electronlmobil is made circular movement in the original place;
This driven at low speed travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This driven at low speed travel direction control unit selected with power when the differential combining ability parameter, described left and right moving device is according to described control signal input mechanism output signal, drives advance turnon left smooth turn or retreat the turnon left smooth turn or advance the right-hand corner smooth turn or the right-hand corner smooth turn of advancing of vehicle body;
The selected counter-force of this driven at low speed travel direction control unit is when the combining ability parameter, and described left and right moving device drives vehicle body left-handed turning minor radius pivot turn or the pivot turn of right-hand turning minor radius according to described control signal input mechanism output signal;
Behind described control signal input mechanism output signal and described discriminator output signal input driven at low speed travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, it is controlled the counter-force that presets in the described driven at low speed travel direction control unit and reduces the information operating amount increase that the same power that presets in the described driven at low speed travel direction control unit of its control control is exported to differential combining ability parameter corresponding control signal input mechanism to the information operating amount of combining ability parameter corresponding control signal input mechanism output;
Described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speed is slack-off, it controls the counter-force that presets in the described driven at low speed travel direction control unit increases to the information operating amount of combining ability parameter corresponding control signal input mechanism output, and the same power that presets in the described driven at low speed travel direction control unit of its control control increases to the information operating amount of differential combining ability parameter corresponding control signal input mechanism output.
7. electronlmobil according to claim 6, it is characterized in that: it is the combining ability parameter that described middling speed drives the driving mode parameter that presets in the travel direction control unit, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
This middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This middling speed drive travel direction control unit selected with power when the differential combining ability parameter, a described left side, the right lateral motion device is according to described control signal input mechanism output signal, drive the vehicle body turnon left smooth turn of advancing, perhaps retreat the turnon left smooth turn, the right-hand corner smooth turn of perhaps advancing, the right-hand corner smooth turn of perhaps advancing, this middling speed drive travel direction control unit selected with power when the differential combining ability parameter, behind described control signal input mechanism output signal and described discriminator output signal input middling speed driving travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, and the angle of turn linearity of controlling this electronlmobil reduces.
8. electronlmobil according to claim 7, it is characterized in that: the driving mode parameter that presets in the described high-speed driving travel direction control unit is the combining ability parameter, and described combining ability parameter is: with power to non-differential combining ability parameter, with power to differential combining ability parameter;
Behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, this middling speed drive travel direction control unit selected with power when the non-differential combining ability parameter, correspondence output a control signal to carry out in the device driving mechanism its left and right sides moving device of control equidirectional, advance with speed;
Behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, this high-speed driving travel direction control unit selected with power when the differential combining ability parameter, correspondence outputs a control signal to carries out its left side of control in the device driving mechanism, the right lateral motion device is advanced in the same way, the gait of march of one of them moving device is less than another moving device, the less moving device gait of march of this speed is controlled it by the control signal of described moving device driver train output and is changed, and described electronlmobil car is turned with the angle that is not more than the right angle and advanced;
This high-speed driving travel direction control unit selected with power when the non-differential combining ability parameter, described left and right moving device drives vehicle body straight ahead or straight line and retreats according to described control signal input mechanism output signal;
This high-speed driving travel direction control unit selected with power when the differential combining ability parameter, a described left side, the right lateral motion device is according to described control signal input mechanism output signal, drive the vehicle body turnon left smooth turn of advancing, perhaps retreat the turnon left smooth turn, the right-hand corner smooth turn of perhaps advancing, the right-hand corner smooth turn of perhaps advancing, this high-speed driving travel direction control unit selected with power when the differential combining ability parameter, behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, described changes in vehicle speed angle of turn control unit is when this electric automobile during traveling speeds up, and the angle of turn linearity of controlling this electronlmobil reduces;
This high-speed driving travel direction control unit also comprises: behind described control signal input mechanism output signal and described discriminator output signal input high-speed driving travel direction control unit, be used to limit the angle of turn restraint device of the maximum angle of turn of this electronlmobil under the corresponding vehicle speed condition.
9. electronlmobil according to claim 8 is characterized in that: described left and right moving device can be adopted as two groups of wheels of the free rotation direction that is connected on the described vehicle frame.
10. electronlmobil according to claim 9 is characterized in that: described left and right moving device is the crawler belt that is connected on the described vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100653036A CN101417667A (en) | 2008-01-31 | 2008-01-31 | Electric automobile using joystick to operate running direction |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100653036A CN101417667A (en) | 2008-01-31 | 2008-01-31 | Electric automobile using joystick to operate running direction |
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| CN101417667A true CN101417667A (en) | 2009-04-29 |
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| CNA2008100653036A Pending CN101417667A (en) | 2008-01-31 | 2008-01-31 | Electric automobile using joystick to operate running direction |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612631A (en) * | 2013-12-06 | 2014-03-05 | 奇瑞汽车股份有限公司 | Chassis control system of concept car |
| CN103688227A (en) * | 2011-07-22 | 2014-03-26 | 村田机械株式会社 | Moving body system and method for controlling travel of moving body |
| CN108621980A (en) * | 2017-03-23 | 2018-10-09 | 福特全球技术公司 | Telescopic vehicle controls |
-
2008
- 2008-01-31 CN CNA2008100653036A patent/CN101417667A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103688227A (en) * | 2011-07-22 | 2014-03-26 | 村田机械株式会社 | Moving body system and method for controlling travel of moving body |
| CN103688227B (en) * | 2011-07-22 | 2017-03-15 | 村田机械株式会社 | Movable body system and the ambulation control method of moving body |
| CN103612631A (en) * | 2013-12-06 | 2014-03-05 | 奇瑞汽车股份有限公司 | Chassis control system of concept car |
| CN108621980A (en) * | 2017-03-23 | 2018-10-09 | 福特全球技术公司 | Telescopic vehicle controls |
| CN108621980B (en) * | 2017-03-23 | 2023-04-28 | 福特全球技术公司 | Retractable vehicle control |
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Open date: 20090429 |